1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
2. State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, P. R. China
3. College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing 400030, P. R. China
4. Environmental Process Modelling Centre, Nanyang Environment and Water Research Institute, Nanyang Technological University, 1 Cleantech Loop, Singapore 637141, Singapore